Adaptive Pre-load to raise Efficiency of electrical pre-loaded Rack-and-Pinion Drives

对生产精度和生产率的不断增长的需求要求高动态进给驱动器具有出色的命令跟踪和干扰抑制特性。在大型机器中主要使用的驱动系统是齿轮齿条传动（RPD）。RPD的一个核心问题是传动系统中的反冲。通过第二个相同的驱动器对系统进行电预加载是一种既定的解决方案。通过驱动器之间的差动扭矩施加预载荷，该差动扭矩通常保持恒定。然而，这改变了其他动态相关的属性，如刚度和阻尼。为了根据需要调整动态相关的系统属性，该项目打算自适应地设计预紧力。高预载允许设置高Kv，这导致优异的跟踪性能。但是，由于废热，高预紧力不能永久使用，这是研究适当的控制方法以根据需要调整预紧力的原因。我们的目标是开发一种方法，使用系统的总扭矩，如果必要的话。另一方面，在非关键操作阶段期间预载荷减小。总的来说，该研究项目的结果是电预加载RPD具有最佳性能。

Permanent increasing demands on production accuracy and productivity impose high dynamic feed drives with excellent command tracking and disturbance rejection properties. A drive system predominantly used in large machines is the rack-and-pinion drive (RPD). A central problem of RPD is backlash in the drive train. The electrical preloading of the system by a second identical drive is an established solution. The preload is applied by a differential torque between the drives, which is generally kept constant. However, this change other dynamically relevant properties such as stiffness and damping.In order to adjust dynamically relevant system properties according to demand, the project intends to design the preload adaptively. A high preload allows the setting of a high Kv, which results in an excellent tracking performance. But the high preload cannot be used permanently due to waste heat, which is the reason for researching an adequate control method to adapt the preload as required. The objective is to develop a method which uses the total torque of the system, if necessary. On the other hand, the preload is reduced during non-critical operating phases. Overall, the research project results in an electrically preloaded RPD with optimal performance.